Development of Kalman Filter Based Air Defense System
ABSTRACT:
This project demonstrates a method by which we can develop a prototype on which we can
implement the object detection algorithm and we can apply Kalman filtering technique. The
objective is to first detect the moving object i.e. target and acquiring its coordinates and
sending those coordinates to the microcontroller system i.e. to control the motion of the two
servo motors accordingly that control a mounted sentry gun to hit the object in the same time
instantaneously. Our purpose is to make this response of the system accurate and exact.
Basically, the objective of this prototype development is to extend the concept of 2D
detection. Detecting the object in 2D coordinates is rather difficult, however this can be
overcome by 3D object detection. The strategy used here is that , we are using two cameras
in a triangular way located at a suitable position. The two cameras can provide us the
information about the third coordinate in which our object is moving. After the development
of the prototype by using knowledge of engineering and then implementing a generic code
for object detection and tracking we apply the Kalman Filter in it to enhance and to decrease
the uncertainty about the location of our object and studying the response of our system.
Discussion and Results:
Kalman filter in the today’s world
Applications in Nonlinear Control
Kalman Filter in Control and Modeling
Extended Kalman Filter Based Fuzzy Adaptive Filter
Adaptive Robust Extended Kalman Filter
Kalman filter use in signal processing in medical sciences
Kalman filtering technique in finding the cancerous cells and their location
Respiratory disorders prediction through Kalman filtering
Tracking and Positioning
Kalman filter in finding object dynamics using wireless sensor networks or mobile
phones
Extended Kalman filtering in finding the location of dynamic objects
Global positioning system use of Kalman filtering for finding position
Satellite altitude finding using Kalman filtering
Electrical Engineering Applications
Electrical system analysis using Kalman filter
Power system and electronics use of Kalman filter
Keywords
Kalman Filter, Image Segmentation, MATLAB, Arduino, Microcontroller, Camera, Servo
motors, Aluminum, Tracking algorithms, object detection, torque, Power Supply, and
Hardware.
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